Active Surface with Passive Omni-Directional Adaptation for In-Hand Manipulation

Sen Li1; Fang Wan2; Chaoyang Song3

10.1109/ReMAR61031.2024.10619925

2024-06-26

979-8-3503-9597-6

2024 6th International Conference on Reconfigurable Mechanisms and Robots (ReMAR)

23-26 June 2024

Chicago, IL, USA

Soft fingers with omni-directional adaptability ex-cel in 3D twisting, outperforming two-dimensional self-adaptive hands using a finger rotation mechanism to achieve similar adaptability. In this study, we present the design of a soft robotic finger with an active surface on an omni-adaptive structure, which can be easily installed on existing grippers and achieve stability and dexterity for in-hand manipulation. The system's active surfaces initially transfer the object from the fingertip segment with less compliance to the middle segment of the finger with superior adaptability. Despite the omni-directional deformation of the finger, in-hand manipulation can still be executed with controlled active surfaces. We characterized the soft finger's stiffness distribution and simplified models to assess the feasibility of lifting and reorienting a grasped object in a 3D twisting state. A set of experiments on in-hand manipulation was performed with the proposed fingers, demonstrating the dexterity and robustness of the strategy.

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EI

1.School of Design, Southern University of Science and Technology, Shenzhen, China
2.Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing, Southern University of Science and Technology, Shenzhen, Guangdong, China
3.Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China

Sen Li,Fang Wan,Chaoyang Song. Active Surface with Passive Omni-Directional Adaptation for In-Hand Manipulation[C],2024.